Design an action select mechanism for soccer robots system using artificial immune network

摘要

This paper presents the design of an action select mechanism (ASM) for soccer robots using artificial immune network (AIN). Each robot executes its own actions provided by the ASM, and group of robots perform a formation task by collaboration. The proposed mechanism is applied to small-size robot soccer game, in which the global coordinates of the soccer robots are known by image processing. Knowing the positions of the ball and robots on the soccer field, the game strategy is designed by three major procedures. First, according to the situation in the soccer field, a team formation is chosen for the soccer team and a role is selected for each individual robot Second, each robot executes an action provided by the AIN-based ASM to fulfill its role-playing. Finally, the robot action is executed by using a point-to point motion controller. Experiments of ASM based on AIN algorithms include ball tracking and shooting, and obstacle avoidance. The results show that the proposed ASM provide an applicable algorithm for mobile robots to play soccer game.